CN106275061A - A kind of man-machine drive type electric boosting steering system and control method altogether based on mix theory - Google Patents
A kind of man-machine drive type electric boosting steering system and control method altogether based on mix theory Download PDFInfo
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- CN106275061A CN106275061A CN201610839790.1A CN201610839790A CN106275061A CN 106275061 A CN106275061 A CN 106275061A CN 201610839790 A CN201610839790 A CN 201610839790A CN 106275061 A CN106275061 A CN 106275061A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses and a kind of man-machine drive type electric boosting steering system and control method altogether based on mix theory, nobody turns to field, man-machine type electric boosting steering system of driving altogether to include that preposition torque/rotary angle transmitter, rearmounted torque/rotary angle transmitter, man-machine type electric power steering of driving altogether mix controller, switching monitoring controller, steer motor, steering spindle, reducing gear and pinion and rack to belong to intelligent automobile.The present invention also provides for a kind of based on the man-machine control method driving type electric boosting steering system altogether mixing theory, the man-machine type electric boosting steering system of driving altogether set up under optimized operation state based on hybrid switching system turns to regulation and control system, challenge in whole service engineering is decomposed into the synthesis of control problem under single operating mode, thus realizes man-machine driving type electric boosting steering system Complex Modeling and control altogether.Stability of control system of the present invention is high, and control method easily realizes, and can meet the steering situation that vehicle is different.
Description
Technical field
Nobody turns to field to the invention belongs to intelligent automobile, particularly relate to a kind of based on mix theory man-machine drive altogether type electricity
Dynamic servo steering system and control method.
Background technology
Intelligent automobile integrates the multi-field new and high technologies such as environment sensing, programmed decision-making, the auxiliary driving of many grades
Complication system, the development of intelligent automobile technology will be experienced from part driving function autonomy-oriented to entirely autonomous driving, from a high speed
The simple environment automatic Pilot such as highway is to the course constantly advanced of different kinds of roads automatic Pilot.
Intelligent automobile steering situation is complicated and changeable, and motor turning is handled the control to each operating mode and required higher, traditional control
Strategy processed cannot be taken into account man-machine type electric boosting steering system two kinds of driving altogether and turn to the multi-state spy of (people drives and drives with machine) under pattern
Steering behaviour requirement under the different operating mode of coordination of seeking peace；On the other hand, man-machine type electric boosting steering system of driving altogether is to control
Requirement of real-time is higher, from function and design, the angle of realization of controller (or control strategy), should meet under multi-state
Steering behaviour requirement, make the design of controller as far as possible the most simply, easily realize again, traditional control strategy is difficult to take into account both
Between contradiction.
Further, since outside vehicle interference and Parameters variation, the change of operating condition cause the transition etc. of control model from
The event of dissipating and continuously dynamically and deposit, determines that man-machine type electric boosting steering system of driving altogether is typical complex dynamic systems, and passes
The control strategy of system cannot reflect man-machine drive altogether type electric boosting steering system discrete event and continuously dynamically and the feature deposited with
And discrete event is on the impact of continuous dynamic behaviour and the fusion of various control pattern and transition.
Summary of the invention
For solving above-mentioned technical problem, the present invention provides a kind of and man-machine drives type electric power steering altogether based on mix theory
System and control method, utilization mixes theory and is analyzed the man-machine hybrid characters driving type electric boosting steering system altogether, enters
One step raising is man-machine drives the control performance of type electric boosting steering system, level of intelligence altogether.
To achieve these goals, the present invention is by the following technical solutions:
A kind of man-machine drive type electric boosting steering system altogether based on mix theory, it is characterised in that include preposition torque/
Rotary angle transmitter, rearmounted torque/rotary angle transmitter, man-machine type electric power steering of driving altogether mix controller, switching Supervised Control
Device, steer motor, steering spindle, reducing gear and pinion and rack；
Described steering spindle is engaged by gear with pinion and rack, and described steering spindle is sequentially installed with preposition from top to bottom
Torque/rotary angle transmitter, reducing gear and rearmounted torque/rotary angle transmitter, described reducing gear and steer motor pass through shaft coupling
Device connects；Described steer motor is mixed controller be connected by wire with man-machine type electric power steering of driving altogether, described man-machine common
The type electric power steering of driving mixes controller and leads to excess current control steer motor；Described man-machine type electric power steering of driving altogether mixes
Controller also by wire respectively with preposition torque/rotary angle transmitter, rearmounted torque/rotary angle transmitter, switching monitoring controller
Connect, be respectively used to gather torque/corner value, supervise man-machine type electric power steering of driving altogether and mix controller at various Working moulds
The most normally work under formula；
Described switching monitoring controller is in operating condition, internal discrete event and the outside of electric power steering current system
Jointly having an effect under discrete event, the input of switching monitoring controller, output are all multidimensional variables, have both contained continuous variable,
Also discrete variable is contained；
Described man-machine type electric power steering of driving altogether mixes controller and includes Signal-regulated kinase, microprocessor and driving
Module, Signal-regulated kinase, for nursing one's health preposition torque/rotary angle transmitter, the signal of rearmounted torque/rotary angle transmitter, removes letter
Interference bigger in number and clutter；Microprocessor controls the control strategy of steer motor for producing；Module is driven to refer to pass through
The pwm signal that microprocessor sends adjusts the size of current in ratio coil, thus drives steer motor to work.
In such scheme, described man-machine type electric power steering of driving altogether mixes controller and comprises five kinds of mode of operations, respectively
" driving small angle tower " mode m is driven for machine1, machine drive " driving big corner " mode m2, machine drive " just return " mode m3, machine drive " damping " mould
Formula m4And people drives " power-assisted " mode m5。
In such scheme, under people drives pattern, steer motor serves as assist motor, and auxiliary driver manually turns to；
Under pattern driven by machine, steer motor serves as driving motor, it is achieved the auto-steering operation that non-driver participates in.
A kind of based on the man-machine control method driving type electric boosting steering system altogether mixing theory, it is characterised in that bag
Include following steps:
Step 1), set up apery and turn to rule base；
Step 2), according to the man-machine steering situation driven altogether residing for type electric boosting steering system, that analyzes system mixes spy
Property, as judge man-machine drive altogether type electric power steering mix controller mode of operation according to one of；
Step 3), the real-time torque/corner value gathered according to preposition torque/rotary angle transmitter, to real-time torque/corner value
Differentiate and obtain tarnsition velocity value, and tarnsition velocity value is analyzed, it is judged that the threshold value of torque in real time and the threshold of tarnsition velocity
Value, as judge man-machine drive that type electric power steering mixes the foundation of controller mode of operation altogether two；
Step 4), according to system operating mode according to one of, two, finally determine and current man-machine drive electric boosted turn of type altogether
To mixing which kind of mode of operation controller should select；Meanwhile, the man-machine optimum driving type electric boosting steering system altogether is determined
Control mode；
Step 5), by the threshold value of the threshold value of real-time torque and tarnsition velocity is judged, and according to internal system with outer
The discrete input signal in portion, mixes the mode of operation of controller mix switching to man-machine type electric power steering of driving altogether.
Further, described step 1) in set up apery and turn to the detailed process of rule base to be: according to great number tested data, carry
Take vehicle parameter under various operating mode, and Rule Summary, make typical condition and vehicle parameter form corresponding relation.
Further, described step 2) the man-machine steering situation driven altogether residing for type electric boosting steering system includes lane-change row
Sail, track keeps, negotiation of bends and Emergency avoidance.
Further, described machine is driven type electric power steering altogether and is mixed the mode of operation of controller, drives including machine and " drives little turn
Angle " mode m1, machine drive " driving big corner " mode m2, machine drive " just return " mode m3, machine drive " damping " mode m4Drive " power-assisted " with people
Mode m5。
Further, Td,0For the torque dead-band range higher limit of steer motor, TmaxMaximum for steer motor output turns
Square value, TaFor Td,0With TmaxBetween the torque value of a certain setting；
When vehicle travels when lane-change travels or track keeps steering situation, if preposition torque/rotary angle transmitter does not turn
Square value, and the torque value T of rearmounted torque/rotary angle transmitter meets Td,0＜ T ＜ Ta, torque the most in real time and tarnsition velocity direction
Time identical, it is determined that " driving small angle tower " mode m driven by entrance machine1；
When vehicle travels in negotiation of bends or Emergency avoidance operating mode, if preposition torque/rotary angle transmitter does not has torque value,
And the torque value T of rearmounted torque/rotary angle transmitter meets Ta＜ T ＜ Tmax, torque the most in real time is identical with tarnsition velocity direction
Time, it is determined that " driving big corner " mode m driven by entrance machine2；
When vehicle travels when lane-change travels or track keeps operating mode, if preposition torque/rotary angle transmitter does not has torque value,
And the torque value T of rearmounted torque/rotary angle transmitter meets Ta＜ T ＜ Tmax, torque the most in real time is in opposite direction with tarnsition velocity
Time, it is determined that " just returning " mode m driven by entrance machine3；
When vehicle travels when lane-change travels or track keeps operating mode, if preposition torque/rotary angle transmitter does not has torque value,
And the torque value T of rearmounted torque/rotary angle transmitter meets 0 ＜ T ＜ Td,0, when torque the most in real time is identical with tarnsition velocity direction,
Judge that " damping " mode m driven by entrance machine4；
No matter when which kind of operating mode vehicle travel in, if preposition torque/rotary angle transmitter has torque value, and torque value maintains
More than 3s, and the torque value T ' of preposition torque/rotary angle transmitter meets Td,0＜ T ' ＜ Tmax, it is determined that enter people and drive " power-assisted " pattern
m5。
Further, described step 5) in the discrete input signal of internal system refer to mix by driving type electric power steering altogether
The continuous dynamic operation of various mode of operations of controller and the evolution of mode of operation that causes；Outside discrete input signal includes
External interference and system time lags.
The invention have the benefit that
1, man-machine type Electric Power Steering Control System of driving altogether is divided into five kinds of mode of operations, by whole service by the present invention
Challenge in engineering is decomposed into the synthesis of control problem under single operating mode, thus realizes man-machine driving electric boosted turn of type altogether
To system complex modeling and control.The optimum that the present invention sets up under vehicle each turning operation state based on hybrid switching system turns to
Stability of control system is high, and control method easily realizes；Meanwhile, turn to rule base according to setting up apery, make typical condition and car
Parameter forms corresponding relation, it is easier to accurately obtains the current operating condition of vehicle, thus realizes the accurate control under this operating mode
System.Finally, due to set up switching monitoring controller, both ensured man-machine to drive cutting of each control model of type electric boosting steering system altogether
Change, ensure again the asymptotically stability of system in handoff procedure.
2, the present invention is under the framework mixing theory, it is achieved the man-machine control driven altogether under type electric boosting steering system full working scope
System, it is possible to be well adapted under most typical case's steering situation, Automatic adjusument steering force and the size of steering angle, thus defeated
Go out optimal steering behaviour so that the control stability of Vehicular system significantly improves.
3, the present invention determine man-machine drive type electric boosting steering system difference steering situation altogether during, consider simultaneously
Size and the torque of torque/corner are the most identical with tarnsition velocity direction, make the big I of steering force and the steering angle determined
The steering situation different to meet vehicle.
Accompanying drawing explanation
Fig. 1 is that the present invention is based on the man-machine structural representation driving type electric boosting steering system altogether mixing theory；
Fig. 2 is that man-machine type electric power steering of driving altogether mixes the control system block diagram of controller；
Fig. 3 is that the man-machine type electric power steering of driving altogether of the present invention mixes the control method flow chart of controller.
Detailed description of the invention
The present invention is further illustrated below in conjunction with the accompanying drawings.
Man-machine drive type electric boosting steering system altogether as it is shown in figure 1, a kind of based on mix theory, including preposition torque/
Rotary angle transmitter 1, rearmounted torque/rotary angle transmitter 2, man-machine type electric power steering of driving altogether mix controller 3, switching supervision control
Device 4 processed, steer motor 5, steering spindle 6, reducing gear 7 and pinion and rack 8；
Steering spindle 6 is engaged by gear with pinion and rack 8, steering spindle 6 be sequentially installed with from top to bottom preposition torque/
Rotary angle transmitter 1, reducing gear 7 and rearmounted torque/rotary angle transmitter 2, reducing gear 7 is with steer motor 5 by shaft coupling even
Connect；Steer motor 5 is mixed controller 3 be connected by wire with man-machine type electric power steering of driving altogether, man-machine drives that type is electronic to be helped altogether
Power turns to and mixes controller 3 and lead to excess current control steer motor 5；Man-machine drive type electric power steering altogether to mix controller 3 the most logical
Cross wire to be connected with preposition torque/rotary angle transmitter 1, rearmounted torque/rotary angle transmitter 2, switching monitoring controller 4 respectively, point
Be not used for gathering torque/corner value, supervise man-machine drive type electric power steering altogether and mix controller 3 under various mode of operations be
No normal work.
Man-machine type electric power steering of driving altogether mixes controller 3 and comprises five kinds of mode of operations, respectively machine and drive and " drive little turn
Angle " mode m1, machine drive " driving big corner " mode m2, machine drive " just return " mode m3, machine drive " damping " mode m4And people drives and " helps
Power " mode m5, as in figure 2 it is shown, in figure CDS be continuous dynamic system, DDS be discrete dynamic system.
Wherein, man-machine type electric boosting steering system of driving altogether, under four kinds of patterns that machine is driven, according to Newtonian mechanics, obtains it
Kinetics equation is as follows:
TL=Kr(θm-Gθ)e (2)
Wherein,For the corner acceleration of motor, rad/s2；JmFor motor and the rotary inertia of clutch, kg
m2；BmFor motor viscous damping coefficient；θmFor the corner of motor, rad；For the rotating speed of motor, rad/s；TmFor electronic
Dynamo-electric magnetic torque, N m；TLFor the load torque of motor, N m；KrOutput shaft rigidity system for motor and reducing gear
Number；G is the speed reducing ratio of worm gear-endless screw reducing gear；θeFor the anglec of rotation of output shaft, rad；Now, under pattern driven by machine rearmounted turn
The torque value T=T of square/rotary angle transmitter 2L。
Man-machine type electric boosting steering system of driving altogether, under people drives (assistant mode), sets up the state space equation of system
For:
Wherein, state variable For state variable X2Single order lead
Number；Control input quantity U2=[Th Tm Fδ]T；OutputθsFor power shaft
The anglec of rotation, rad；For power shaft angular velocity of rotation, rad/s；xrFor the displacement of tooth bar, m；For the translational speed of tooth bar,
km/h；ThFor effect on the steering wheel turn to torque, N m；FδFor the chance mechanism power on road surface, N；TsenAnti-work for torsion bar
With torque, N m；The torque value T '=T of preposition torque/rotary angle transmitter 1 under people drives patternL2。
Coefficient A2、B2、C2、D2It is respectively as follows:
Wherein, JsFor steering wheel, the rotary inertia of power shaft, kg m2；BsFor the viscous damping coefficient of power shaft, KsFor
The stiffness coefficient of torsion bar, rpFor little tooth radius, m；MrFor tooth bar and the equivalent mass of little gear, kg；BrDamping system for tooth bar
Number.
Under people drives pattern, steer motor 5 serves as assist motor, and auxiliary driver manually turns to；Pattern is driven at machine
Under, steer motor 5 serves as driving motor, it is achieved the auto-steering operation that non-driver participates in.
Switching monitoring controller 4, as the logic/decision part of system, should ensure man-machine to drive type electric power steering altogether
The switching of each controller of system, ensures the asymptotically stability of system in handoff procedure again, and switching monitoring controller 4 is at current system
Operating condition, internal discrete event and external discrete event under jointly have an effect, drive type electric power steering altogether to man-machine
For hybrid control system, the input of switching monitoring controller 4, output are all multidimensional variables, have both contained continuous variable, and have also contained
Discrete variable；Monitoring each internal discrete event and the generation of external discrete event, internal discrete event refers to steering-wheel torque signal
Whether more than Td,0(torque dead-band range higher limit), Ta(a certain setting intermediate torque value) and Tmax(motor 5 exports maximum turning
Square value), the discrete event such as preposition or rearmounted torque/rotary angle transmitter is working properly；External discrete event-monitoring control model
Transition, according to different monitoring parameters, at m1～m5Transition is carried out between 5 kinds of patterns.
Man-machine drive altogether type electric power steering mix controller 3 include Signal-regulated kinase, microprocessor and drive mould
Block, Signal-regulated kinase, for nursing one's health preposition torque/rotary angle transmitter 1, the signal of rearmounted torque/rotary angle transmitter 2, removes letter
Interference bigger in number and clutter；Microprocessor controls the control strategy of steer motor 5, the microprocessor of the present invention for producing
For LPC2131 microprocessor；The electric current driving module to refer to that the pwm signal sent by microprocessor is adjusted in ratio coil is big
Little, thus drive steer motor 5 to work；Drive module to refer specifically to H type unipolarity Reversible PWM drive system, by 4 switching tubes and
4 fly-wheel diode compositions, according to arranging different control rule, produce different control models.
A kind of based on mix theory man-machine drive type electric boosting steering system altogether work process be:
Man-machine type electric power steering of driving altogether mixes controller 3 by preposition torque/rotary angle transmitter 1, rearmounted torque/turn
Angle transducer 2 gathers torque/corner value, is transferred to microprocessor, micro-process after Signal-regulated kinase removes interference and clutter
Device produces the control strategy controlling steer motor 5 by the signal received, and sends pwm signal adjustment steer motor 5 ratio line
Size of current in circle, thus drive steer motor 5 to work；Steer motor 5 exports torque to steering spindle 6 through reducing gear 7,
Driven gear rackwork 8 works, so that wheel produces divertical motion；
Mix the apery that controller 3 deposits turn to rule base program by man-machine type electric power steering of driving altogether, it is judged that electricity
Dynamic steering situation residing for servo steering system: lane-change traveling, track holding, negotiation of bends and Emergency avoidance, analyzes steering system
The hybrid characters of system, it is judged that man-machine type electric power steering of driving altogether mixes controller 3 and enters machine and drive " driving small angle tower " mode m1、
" driving big corner " mode m driven by machine2, machine drive " just return " mode m3, machine drive " damping " mode m4" power-assisted " mode m is driven with people5In
Certain mode of operation；Switching monitoring controller 4 is by gathering preposition torque/rotary angle transmitter 1, rearmounted torque/rotary angle transmitter 2
Torque/corner value, supervise man-machine type electric power steering of driving altogether and mix controller 3 whether normal work under various mode of operations
Make；If man-machine type electric power steering of driving altogether mixes controller 3 and works abnormal, switching monitoring controller 4 is preposition by gather
Torque/rotary angle transmitter 1, the torque/corner value of rearmounted torque/rotary angle transmitter 2 are sent to man-machine drive electric boosted turn of type altogether
To mixing controller 3, man-machine type electric power steering of driving altogether is mixed controller 3 and is cut by H type unipolarity Reversible PWM drive system
Change to correct mode of operation, it is ensured that man-machine type electric power steering of driving altogether mixes controller 3 and carries out between each mode of operation
Mix switching, ensure the asymptotically stability of electric boosting steering system in handoff procedure simultaneously.
A kind of based on mixing the theoretical man-machine control method driving type electric boosting steering system altogether, including step:
Step 1), set up apery and turn to rule base；
Apery turns to rule base to be according to great number tested data, extracts vehicle parameter under various operating mode, and Rule Summary, makes
Typical condition and vehicle parameter form corresponding relation, and will determine that result passes to man-machine type electric power steering of driving altogether and mixes control
Device 3 processed.
Step 2), according to the man-machine steering situation driven altogether residing for type electric boosting steering system: include lane-change traveling, track
Holding, negotiation of bends and Emergency avoidance, analyze the hybrid characters of system, as judging that man-machine type electric power steering of driving altogether mixes
One of foundation of controller 3 mode of operation；
Drive type electric power steering altogether to mix the mode of operation of controller 3 and include that " driving small angle tower " mode m driven by machine1, machine
Drive " driving big corner " mode m2, machine drive " just return " mode m3, machine drive " damping " mode m4" power-assisted " mode m is driven with people5；(Td,0
For the torque dead-band range higher limit of steer motor 5, its value is 1N m；TmaxThe maximum torque value exported for steer motor 5, its
Value is 8N m；TaFor Td,0With TmaxBetween the torque value of a certain setting, its value is set to 2N m；)
When vehicle travels when lane-change travels or track keeps steering situation, if preposition torque/rotary angle transmitter 1 does not turn
Square value, and the torque value T of rearmounted torque/rotary angle transmitter 2 meets Td,0＜ T ＜ Ta, torque the most in real time and tarnsition velocity direction
Time identical, it is determined that " driving small angle tower " mode m driven by entrance machine1；
When vehicle travels in negotiation of bends or Emergency avoidance operating mode, if preposition torque/rotary angle transmitter 1 does not has torque
It is worth, and the torque value T of rearmounted torque/rotary angle transmitter 2 meets Ta＜ T ＜ Tmax, torque the most in real time and tarnsition velocity direction phase
Simultaneously, it is determined that " driving big corner " mode m driven by entrance machine2；
When vehicle travels when lane-change travels or track keeps operating mode, if preposition torque/rotary angle transmitter 1 does not has torque
It is worth, and the torque value T of rearmounted torque/rotary angle transmitter 2 meets Ta＜ T ＜ Tmax, torque the most in real time and tarnsition velocity direction phase
Inverse time, it is determined that " just returning " mode m driven by entrance machine3；
When vehicle travels when lane-change travels or track keeps operating mode, if preposition torque/rotary angle transmitter 1 does not has torque
It is worth, and the torque value T of rearmounted torque/rotary angle transmitter 2 meets 0 ＜ T ＜ Td,0, torque the most in real time and tarnsition velocity direction phase
Simultaneously, it is determined that " damping " mode m driven by entrance machine4；
No matter when which kind of operating mode vehicle travel in, if preposition torque/rotary angle transmitter 1 has torque value, and torque value dimension
Hold more than 3s, and the torque value T ' of preposition torque/rotary angle transmitter 1 meets Td,0＜ T ' ＜ Tmax, it is determined that enter people and drive " power-assisted "
Mode m5。
Step 3), the real-time torque/corner value gathered according to preposition torque/rotary angle transmitter 1, to real-time torque/corner
Value is differentiated and is obtained tarnsition velocity value, and is analyzed tarnsition velocity value, it is judged that the threshold value of in real time torque and tarnsition velocity
Threshold value, as judge man-machine drive that type electric power steering mixes the foundation of controller 3 mode of operation altogether two.
Step 4), according to system operating mode according to one of, two, finally determine and current man-machine drive electric boosted turn of type altogether
To mixing which kind of mode of operation controller 3 should select；Meanwhile, the man-machine optimum driving type electric boosting steering system altogether is determined
Control mode.
Step 5), by the threshold value of the threshold value of real-time torque and tarnsition velocity is judged, and according to internal system with outer
The discrete input signal in portion, mixes the mode of operation of controller 3 mix switching to man-machine type electric power steering of driving altogether；In
The discrete input signal in portion refers to by the continuous dynamic operation of various mode of operations driving type electric power steering altogether and mixing controller 3
And the evolution of the mode of operation caused；Outside discrete input signal includes external interference and system time lags.
Above example is merely to illustrate design philosophy and the feature of the present invention, its object is to make the technology in this area
Personnel will appreciate that present disclosure and implement according to this, and protection scope of the present invention is not limited to above-described embodiment.So, all depend on
The equivalent variations made according to disclosed principle, mentality of designing or modification, all within protection scope of the present invention.
Claims (9)
1. man-machine drive type electric boosting steering system altogether based on mix theory for one kind, it is characterised in that include preposition torque/turn
Angle transducer (1), rearmounted torque/rotary angle transmitter (2), man-machine type electric power steering of driving altogether mix controller (3), switching prison
Superintend and direct controller (4), steer motor (5), steering spindle (6), reducing gear (7) and pinion and rack (8)；
Described steering spindle (6) is engaged by gear with pinion and rack (8), and described steering spindle (6) is installed the most successively
There are preposition torque/rotary angle transmitter (1), reducing gear (7) and rearmounted torque/rotary angle transmitter (2), described reducing gear (7)
It is connected by shaft coupling with steer motor (5)；Described steer motor (5) and man-machine type electric power steering of driving altogether mix controller
(3) being connected by wire, described man-machine type electric power steering of driving altogether mixes the logical excess current control steer motor of controller (3)
(5)；Described man-machine drive altogether type electric power steering mix controller (3) also by wire respectively with preposition torque/rotation angular sensing
Device (1), rearmounted torque/rotary angle transmitter (2), switching monitoring controller (4) connect, and are respectively used to gather torque/corner value, prison
Superintend and direct man-machine type electric power steering of driving altogether to mix controller (3) and the most normally work under various mode of operations；
Described switching monitoring controller (4) is in operating condition, internal discrete event and the outside of electric power steering current system
Jointly having an effect under discrete event, the input of switching monitoring controller (4), output are all multidimensional variables, have both contained change continuously
Amount, also contains discrete variable；
Described man-machine type electric power steering of driving altogether mixes controller (3) and includes Signal-regulated kinase, microprocessor and driving
Module, Signal-regulated kinase is used for nursing one's health preposition torque/rotary angle transmitter (1), the signal of rearmounted torque/rotary angle transmitter (2),
Remove bigger interference and clutter in signal；Microprocessor is used for producing the control strategy controlling steer motor (5)；Drive module
Refer to that the pwm signal sent by microprocessor adjusts the size of current in ratio coil, thus drive steer motor (5) work
Make.
The most according to claim 1 a kind of man-machine drive type electric boosting steering system altogether based on mix theory, its feature
Be, described man-machine drive altogether type electric power steering mix controller (3) comprise five kinds of mode of operations, respectively machine drive " drive
Small angle tower " mode m1, machine drive " driving big corner " mode m2, machine drive " just return " mode m3, machine drive " damping " mode m4And people drives
" power-assisted " mode m5。
The most according to claim 2 a kind of man-machine drive type electric boosting steering system altogether based on mix theory, its feature
Being, under people drives pattern, steer motor (5) serves as assist motor, and auxiliary driver manually turns to；Pattern is driven at machine
Under, steer motor (5) serves as driving motor, it is achieved the auto-steering operation that non-driver participates in.
4. one kind based on mix theory the man-machine control method driving type electric boosting steering system altogether, it is characterised in that include
Following steps:
Step 1), set up apery and turn to rule base；
Step 2), according to the man-machine steering situation driven altogether residing for type electric boosting steering system, analyze the hybrid characters of system, make
For judge man-machine drive altogether type electric power steering mix controller (3) mode of operation according to one of；
Step 3), the real-time torque/corner value gathered according to preposition torque/rotary angle transmitter (1), to real-time torque/corner value
Differentiate and obtain tarnsition velocity value, and tarnsition velocity value is analyzed, it is judged that the threshold value of torque in real time and the threshold of tarnsition velocity
Value, as judge man-machine drive that type electric power steering mixes the foundation of controller (3) mode of operation altogether two；
Step 4), according to system operating mode according to one of, two, finally determine current man-machine drive altogether type electric power steering mix
Which kind of mode of operation miscellaneous controller (3) should select；Meanwhile, the man-machine optimum control driving type electric boosting steering system altogether is determined
Mode processed；
Step 5), by the threshold value of the threshold value of real-time torque and tarnsition velocity is judged, and according to internal system and outside
Discrete input signal, mixes the mode of operation of controller (3) mix switching to man-machine type electric power steering of driving altogether.
The most according to claim 4 a kind of based on the man-machine controlling party driving type electric boosting steering system altogether mixing theory
Method, it is characterised in that described step 1) in set up apery and turn to the detailed process of rule base to be: according to great number tested data, carry
Take vehicle parameter under various operating mode, and Rule Summary, make typical condition and vehicle parameter form corresponding relation.
The most according to claim 4 a kind of based on the man-machine controlling party driving type electric boosting steering system altogether mixing theory
Method, it is characterised in that described step 2) the man-machine steering situation driven altogether residing for type electric boosting steering system include lane-change travel,
Track holding, negotiation of bends and Emergency avoidance.
The most according to claim 4 a kind of based on the man-machine controlling party driving type electric boosting steering system altogether mixing theory
Method, it is characterised in that described machine is driven type electric power steering altogether and mixed the mode of operation of controller (3), drives including machine and " drives little
Corner " mode m1, machine drive " driving big corner " mode m2, machine drive " just return " mode m3, machine drive " damping " mode m4Drive with people and " help
Power " mode m5。
8. according to described in claim 6 or 7 a kind of based on mix theory the man-machine control driving type electric boosting steering system altogether
Method processed, it is characterised in that
Td,0For the torque dead-band range higher limit of steer motor (5), TmaxThe maximum torque value exported for steer motor (5), TaFor
Td,0With TmaxBetween the torque value of a certain setting；
When vehicle travels when lane-change travels or track keeps steering situation, if preposition torque/rotary angle transmitter (1) does not has torque
It is worth, and the torque value T of rearmounted torque/rotary angle transmitter (2) meets Td,0＜ T ＜ Ta, torque the most in real time and tarnsition velocity direction
Time identical, it is determined that " driving small angle tower " mode m driven by entrance machine1；
When vehicle travels in negotiation of bends or Emergency avoidance operating mode, if preposition torque/rotary angle transmitter (1) does not has torque value,
And the torque value T of rearmounted torque/rotary angle transmitter (2) meets Ta＜ T ＜ Tmax, torque the most in real time and tarnsition velocity direction phase
Simultaneously, it is determined that " driving big corner " mode m driven by entrance machine2；
When vehicle travels when lane-change travels or track keeps operating mode, if preposition torque/rotary angle transmitter (1) does not has torque value,
And the torque value T of rearmounted torque/rotary angle transmitter (2) meets Ta＜ T ＜ Tmax, torque the most in real time and tarnsition velocity direction phase
Inverse time, it is determined that " just returning " mode m driven by entrance machine3；
When vehicle travels when lane-change travels or track keeps operating mode, if preposition torque/rotary angle transmitter (1) does not has torque value,
And the torque value T of rearmounted torque/rotary angle transmitter (2) meets 0 ＜ T ＜ Td,0, torque the most in real time is identical with tarnsition velocity direction
Time, it is determined that " damping " mode m driven by entrance machine4；
No matter when which kind of operating mode vehicle travel in, if preposition torque/rotary angle transmitter (1) has torque value, and torque value maintains
More than 3s, and the torque value T ' of preposition torque/rotary angle transmitter (1) meets Td,0＜ T ' ＜ Tmax, it is determined that enter people and drive " power-assisted "
Mode m5。
The most according to claim 4 a kind of based on the man-machine controlling party driving type electric boosting steering system altogether mixing theory
Method, it is characterised in that described step 5) in the discrete input signal of internal system refer to mix by driving type electric power steering altogether
The continuous dynamic operation of various mode of operations of controller (3) and the evolution of mode of operation that causes；Outside discrete input signal
Including external interference and system time lags.
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| CN107727417A (en) * | 2017-09-11 | 2018-02-23 | 江苏大学 | One kind is man-machine to drive steering hardware-in-the-loop test platform altogether |
| CN108725453A (en) * | 2018-06-11 | 2018-11-02 | 南京航空航天大学 | Control system and its switch mode are driven altogether based on pilot model and manipulation the man-machine of inverse dynamics |
| CN109229200A (en) * | 2018-09-10 | 2019-01-18 | 东南大学 | A kind of general steering system of unmanned equation motorcycle race and control method |
| CN109885040A (en) * | 2019-02-20 | 2019-06-14 | 江苏大学 | It is a kind of it is man-machine drive altogether in vehicle drive control distribution system |
| CN110104055A (en) * | 2019-04-08 | 2019-08-09 | 南京航空航天大学 | A kind of pattern switching hybrid control system of in due course 4 wheel driven composite turning system |
| CN111196310A (en) * | 2020-01-21 | 2020-05-26 | 南京艾格慧元农业科技有限公司 | Self-induction type reversing device and method for agricultural machinery electrically-driven steering wheel |
| CN112373556A (en) * | 2020-11-29 | 2021-02-19 | 上海龙创汽车设计股份有限公司 | Steering system of unmanned four-wheel independent steering chassis platform of low-speed vehicle |
| CN113619563A (en) * | 2021-09-06 | 2021-11-09 | 厦门大学 | Intelligent electric vehicle transverse control system and method based on man-machine sharing |
| CN114323698A (en) * | 2022-02-11 | 2022-04-12 | 吉林大学 | Real vehicle experiment platform testing method for man-machine driving-together intelligent vehicle |
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| CN107727417A (en) * | 2017-09-11 | 2018-02-23 | 江苏大学 | One kind is man-machine to drive steering hardware-in-the-loop test platform altogether |
| CN108725453A (en) * | 2018-06-11 | 2018-11-02 | 南京航空航天大学 | Control system and its switch mode are driven altogether based on pilot model and manipulation the man-machine of inverse dynamics |
| CN109229200A (en) * | 2018-09-10 | 2019-01-18 | 东南大学 | A kind of general steering system of unmanned equation motorcycle race and control method |
| CN109885040B (en) * | 2019-02-20 | 2022-04-26 | 江苏大学 | Vehicle driving control right distribution system in man-machine driving |
| CN109885040A (en) * | 2019-02-20 | 2019-06-14 | 江苏大学 | It is a kind of it is man-machine drive altogether in vehicle drive control distribution system |
| CN110104055A (en) * | 2019-04-08 | 2019-08-09 | 南京航空航天大学 | A kind of pattern switching hybrid control system of in due course 4 wheel driven composite turning system |
| CN111196310A (en) * | 2020-01-21 | 2020-05-26 | 南京艾格慧元农业科技有限公司 | Self-induction type reversing device and method for agricultural machinery electrically-driven steering wheel |
| CN111196310B (en) * | 2020-01-21 | 2022-06-07 | 南京艾格慧元农业科技有限公司 | Self-induction type reversing device and method for agricultural machinery electrically-driven steering wheel |
| CN112373556A (en) * | 2020-11-29 | 2021-02-19 | 上海龙创汽车设计股份有限公司 | Steering system of unmanned four-wheel independent steering chassis platform of low-speed vehicle |
| CN113619563A (en) * | 2021-09-06 | 2021-11-09 | 厦门大学 | Intelligent electric vehicle transverse control system and method based on man-machine sharing |
| CN113619563B (en) * | 2021-09-06 | 2022-08-30 | 厦门大学 | Intelligent electric vehicle transverse control system and method based on man-machine sharing |
| CN114323698A (en) * | 2022-02-11 | 2022-04-12 | 吉林大学 | Real vehicle experiment platform testing method for man-machine driving-together intelligent vehicle |
| CN114323698B (en) * | 2022-02-11 | 2023-09-08 | 吉林大学 | Real vehicle experiment platform testing method for man-machine co-driving intelligent vehicle |
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Application publication date: 20170104 Assignee: Jiangsu Gang Yang steering system Co., Ltd Assignor: Jiangsu University Contract record no.: 2018320000242 Denomination of invention: Man-machine co-driving type electric power steering system based on hybrid theory and control method Granted publication date: 20180810 License type: Exclusive License Record date: 20181025 |